	US 11,971,728 B1
	Platform guidance system incorporating hierarchical modular arbitration architecture
David L Lempia, Center Point, IA (US); Jack Jordan, Cedar Rapids, IA (US); Bryan M. Krawiec, Ashburn, VA (US); John D. Anderson, Cedar Rapids, IA (US); Amy Lindaman, Cedar Rapids, IA (US); and Christopher M. Boggs, Gainesville, VA (US)
Assigned to Rockwell Collins, Inc., Cedar Rapids, IA (US)
Filed by Rockwell Collins, Inc., Cedar Rapids, IA (US)
Filed on Oct. 23, 2020, as Appl. No. 17/079,244.
Int. Cl. G05D 1/08 (2006.01); G05D 1/00 (2006.01); G06N 20/00 (2019.01)

CPC G05D 1/0808 (2013.01) [G05D 1/0016 (2013.01); G06N 20/00 (2019.01)]

17 Claims

1. A modular guidance system comprising:

a control system that provides a control input to a vehicle arbitration system;

a flight display that includes a primary flight display, or a multifunctional display, or a remote display, wherein the flight display displays control outputs to an operator of the modular guidance system; and

a vehicle arbitration system that controls the modular guidance system and sends control outputs to the flight display, the vehicle arbitration system comprising:

a plurality of arbitration layers, wherein each arbitration layer includes a plurality of flight objectives describing vehicle control objectives;

wherein the plurality of arbitration layers is organized in a hierarchy, such that the highest arbitration layer in the hierarchy includes a plurality of flight objectives that provide a general description of vehicle control and each arbitration layer lower in the hierarchy includes a plurality of flight objectives that provide a more specific description of vehicle control than arbitration layers higher in the hierarchy;

wherein each arbitration layer comprises an arbitrator, a decision agent, and an application;

wherein each arbitration layer:

groups at least one arbitrator, one application, and one decision agent together based on a plurality of flight objectives;

receives control signals from another arbitration layer;

receives control inputs from the control system, wherein the control inputs are associated with a current flight objective; and

sends control signals to another arbitration layer or sends control outputs to the flight display;

wherein each arbitrator:

receives control inputs from the control system, wherein the control inputs are associated with a current flight objective;

receives control signals from an arbitration layer;

associates each application with an application state that is inactive, or armed, or active;

receives a request for control of the modular guidance system from a first application;

refers to a first decision agent when a plurality of requests is received from a plurality of applications; and

selects and temporarily grants control of the modular guidance system to an armed application based on control signals and the first decision agent;

wherein each decision agent:

aids an arbitrator in choosing the armed application to grant control of the modular guidance system;

wherein each application:

receives control inputs from the control system, wherein the control inputs are associated with a current flight objective;

receives control signals from an arbitration layer;

requests control of the vehicle arbitration system from a first arbitrator;

receives control of the vehicle arbitration system from the first arbitrator;

fulfills a flight objective by executing one or more functions while in an active state;

generates control signals or control outputs; and

sends control signals to another arbitration layer and sends control outputs to the flight display, such that control inputs are used by the vehicle arbitration system to control a vehicle.